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公开(公告)号：US11124942B2
公开(公告)日：2021-09-21
申请号：US16402667
申请日：2019-05-03
Applicant: Caterpillar Inc.
Inventor： Joseph L. Faivre , Tianjiao Zuo , Paul D. Lenzen , Steven R. Krause
Abstract: A system for controlling a ground engaging work implement includes a machine position sensor, a work surface position sensor, a work implement position sensor, and a controller. The controller determines the position of the machine, determines the topography of the work surface, determines a location of a pre-task trigger location adjacent the task start location, and determine a position of the lowest surface of the ground engaging work implement. The controller generates traverse signals to propel the machine from the task end location towards the task start location, generate work implement height signals to maintain the lowest surface of the ground engaging work implement at or above the traversing threshold height as the machine travels from the task end location towards the task start location, and generate work implement lowering signals to lower the work implement to the pre-task threshold height after the machine passes the pre-task trigger location.
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公开(公告)号：US20200347570A1
公开(公告)日：2020-11-05
申请号：US16402667
申请日：2019-05-03
Applicant: Caterpillar Inc.
Inventor： Joseph L. Faivre , Tianjiao Zuo , Paul D. Lenzen , Steven R. Krause
Abstract: A system for controlling a ground engaging work implement includes a machine position sensor, a work surface position sensor, a work implement position sensor, and a controller. The controller determines the position of the machine, determines the topography of the work surface, determines a location of a pre-task trigger location adjacent the task start location, and determine a position of the lowest surface of the ground engaging work implement. The controller generates traverse signals to propel the machine from the task end location towards the task start location, generate work implement height signals to maintain the lowest surface of the ground engaging work implement at or above the traversing threshold height as the machine travels from the task end location towards the task start location, and generate work implement lowering signals to lower the work implement to the pre-task threshold height after the machine passes the pre-task trigger location.
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Patent Agency Ranking
公开(公告)号：US20170107700A1
公开(公告)日：2017-04-20
申请号：US14886992
申请日：2015-10-19
Applicant: CATERPILLAR INC.
Inventor： Joseph L. Faivre , Bradley P. Krone , Steven R. Krause
IPC: E02F9/26
CPC classification number: E02F9/265 , E02F3/845 , E02F3/847 , E02F9/2029
Abstract: A controller uses a Kalman filter to develop an estimated position of an implement based on a previous implement position, an implement pitch, an implement pitch rate and an estimated implement linkage velocity. The controller moves the implement to a desired position based on the estimated position of the implement.
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公开(公告)号：US10066370B2
公开(公告)日：2018-09-04
申请号：US14886992
申请日：2015-10-19
Applicant: Caterpillar Inc.
Inventor： Joseph L. Faivre , Bradley P. Krone , Steven R. Krause
Abstract: A controller uses a Kalman filter to develop an estimated position of an implement based on a previous implement position, an implement pitch, an implement pitch rate and an estimated implement linkage velocity. The controller moves the implement to a desired position based on the estimated position of the implement.
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公开(公告)号：US20170204588A1
公开(公告)日：2017-07-20
申请号：US15000241
申请日：2016-01-19
Applicant: Caterpillar Inc.
Inventor： Joseph Faivre , Bradley Krone , Steven R. Krause
CPC classification number: E02F5/32 , E02F3/7604 , E02F9/2025 , E02F9/2029
Abstract: A system and method of controlling a ripping operation is disclosed. The method includes lowering a ripper of a machine to a depth under a work surface. The method determines when a drawbar pull of the machine is at a drawbar pull target for the machine. When the drawbar pull is greater than the drawbar pull target, reducing power source torque of the machine from a first power source torque to a second power source torque.
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公开(公告)号：US09529092B2
公开(公告)日：2016-12-27
申请号：US13925895
申请日：2013-06-25
Applicant: Caterpillar Inc.
Inventor： Paul R. Friend , Michael Taylor , Steven R. Krause , Andrew Whitten
Abstract: A method for detecting and mitigating errors in a positioning system includes receiving a first signal from a global navigation satellite system (GNSS) indicative of a first position and a second signal from the GNSS indicative of a second position of a machine, determining a difference between the first position and the second position, detecting an error in a current position of the machine when the difference between the first and the second position exceeds a threshold of one of (a) a maximum distance given a maximum velocity, and (b) an actual distance determined based on an output of an inertial sensor on the machine, and mitigating the detected error in the current position of the machine by switching from an output of the positioning system to a position output determined based upon the output of the inertial sensor to update the current position.
Abstract translation: 用于检测和减轻定位系统中的误差的方法包括从指示机器的第二位置的来自指示第一位置的全球导航卫星系统（GNSS）接收第一信号和来自GNSS的第二信号，确定机器的第二位置之间的差 第一位置和第二位置，当第一位置和第二位置之间的差超过了（a）给定最大速度的最大距离之一的阈值时，检测机器的当前位置的误差，以及（b） 基于机器上的惯性传感器的输出确定的实际距离，并且通过从定位系统的输出切换到基于惯性传感器的输出确定的位置输出来减轻机器的当前位置的检测到的误差， 更新当前位置。
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公开(公告)号：US20140375497A1
公开(公告)日：2014-12-25
申请号：US13925895
申请日：2013-06-25
Applicant: Caterpillar Inc.
Inventor： Paul R. Friend , Michael Taylor , Steven R. Krause , Andrew Whitten
IPC: G01S19/13
Abstract: A method for detecting and mitigating errors in a positioning system includes receiving a first signal from a global navigation satellite system (GNSS) indicative of a first position and a second signal from the GNSS indicative of a second position of a machine, determining a difference between the first position and the second position, detecting an error in a current position of the machine when the difference between the first and the second position exceeds a threshold of one of (a) a maximum distance given a maximum velocity, and (b) an actual distance determined based on an output of an inertial sensor on the machine, and mitigating the detected error in the current position of the machine by switching from an output of the positioning system to a position output determined based upon the output of the inertial sensor to update the current position.
Abstract translation: 用于检测和减轻定位系统中的误差的方法包括从指示机器的第二位置的来自指示第一位置的全球导航卫星系统（GNSS）接收第一信号和来自GNSS的第二信号，确定机器的第二位置之间的差 第一位置和第二位置，当第一位置和第二位置之间的差超过了（a）给定最大速度的最大距离之一的阈值时，检测机器的当前位置的误差，以及（b） 基于机器上的惯性传感器的输出确定的实际距离，并且通过从定位系统的输出切换到基于惯性传感器的输出确定的位置输出来减轻机器的当前位置的检测到的误差， 更新当前位置。
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